float64 lateral_error_debug_ 
float64 heading_error_debug_
float64 lateral_error_rate_
float64 heading_error_rate_
float64 yaw_rate_ref_
float64 kappa_
float64 tire_f_angle_
float64 tire_r_angle_
float64 heading_angle_error_ref
float64 tire_f_ref
float64 tire_f_angle_max_
float64 heading
float64 heading_ref
float64 lateral_weight
float64 heading_weight
float64 ref_x
float64 ref_y
float64 lambda

